Apparatus and methods for additive manufacturing with variable extruder profiles

ABSTRACT

Apparatus and methods for additive manufacturing with variable extruder profiles are described herein. An extruder print head with multiple nozzles placed at different angles allows for additional degrees of freedom to additively manufacture parts with complex shapes. In addition with the use of shape memory alloy materials, the diameter of one or more nozzles can be adjusted during the additive manufacturing process. This allows for independent control of the build resolution and of the build rate.

BACKGROUND Field

The present disclosure relates generally to three dimensional (3D) additive manufacturing, and more specifically to additive manufacturing with variable extruder profiles.

Background

The process of building layers of materials using a three dimensional (3D) printer is referred to as additive manufacturing (AM). A material extrusion printer is one type of 3D printer which additively manufactures solid objects on a print bed by extruding molten material through a nozzle.

A material extrusion printer is controlled by a computer which takes a 3D model of the solid object and translates it into printer control commands. In response to the control commands, the material extrusion printer feeds a filament of material, such as a thermoplastic, through an extruder head. The filament is forced into a heated nozzle where material is liquefied and extruded onto the print object. The extruder head and the print bed are moved in response to control commands so that the liquefied material can be deposited along specified coordinates to render the object.

SUMMARY

Several aspects of additively manufacturing with variable extruder profiles will be described more fully hereinafter with reference to material extrusion printers.

In one aspect an additive manufacturing (AM) apparatus comprises a print material source and a three-dimensional (3-D) print applicator. The three-dimensional print applicator comprises at least one nozzle; the at least one nozzle is configured to receive print material from the print material source and to deposit sequential layers of the print material onto a build plate to produce an AM component. A profile of the at least one nozzle is configured to vary responsive to instructions from a controller linked to the 3-D print applicator.

The at least one nozzle can be additively manufactured. The profile can comprise a nozzle opening profile, and the nozzle opening profile can comprise a diameter.

The nozzle opening profile can comprise a plurality of sizes, and the nozzle opening profile can be configured to reduce its size to a value correlative to one of more features of the AM component.

The reduction in size of the nozzle opening profile can increase a rendering accuracy of the one or more features. In response to controller instructions, the nozzle opening profile can be configured to increase its size to reduce rendering time for the AM component.

The 3-D print applicator can comprise a surface on which the at least one nozzle is arranged to deposit the print material onto the build plate; and the surface can be curved to extend outside a plane parallel to the at least one nozzle. The curved surface can comprise at least one of a concave or convex characteristic.

The at least one nozzle can comprise a plurality of nozzles arranged on the curved surface. The at least one nozzle can be configured to deposit the print material at different angles relative to the build plate.

The at least one nozzle can comprise a first removable nozzle having a first profile; and the apparatus can comprise a mechanical assembly coupled to the 3-D print applicator.

The apparatus can further include a sensor and an actuator. The sensor can be in communication with the controller for receiving instructions. The actuator can be coupled to the 3-D print applicator. Responsive to an indication from the sensor and based on the received instructions, the actuator can replace the first removable nozzle with a second removable nozzle having a second profile.

In another aspect a method of additive manufacturing comprises providing a print material source, receiving print material from the print material source, depositing sequential layers of the print material, and varying a profile of the at least one nozzle. Print material is received at a three-dimensional (3-D) print applicator. Sequential layers are deposited by at least one nozzle associated with the 3-D print applicator to thereby form a 3-D printed object. The profile of the at least one nozzle is varied in response to instructions from a controller linked to the 3-D print applicator.

The profile can comprise a nozzle opening profile; and the nozzle opening profile can comprise a diameter. The profile can comprise a nozzle curvature.

The method of additive manufacturing can further comprise automatedly selecting the nozzle opening profile to be small to accurately print small features. Automatedly selecting the nozzle opening profile to be small can comprise reducing the diameter.

The method of additive manufacturing can further comprise automatedly selecting the nozzle opening profile to be larger to reduce rendering time for the 3-D printed object. Automatedly selecting the nozzle opening profile to be larger can comprise increasing the diameter.

The method of additive manufacturing can further comprise automatedly selecting the profile to be one of concave or convex.

In another aspect an additive manufacturing (AM) apparatus comprises a print material source and a three-dimensional (3-D) print applicator. The three-dimensional print applicator may in an embodiment, but generally need not, comprise a closed loop actuator system. The closed loop actuator system comprises at least one nozzle and an actuator. The at least one nozzle is configured to receive print material from the print material source and to deposit sequential layers of the print material onto a build plate to produce an AM component.

The at least one nozzle can be additively manufactured. The at least one nozzle can comprise a nozzle opening profile; and the actuator can be a shape memory alloy actuator.

The closed loop actuator system can comprise a controller, and the controller can be configured to adjust the nozzle opening profile by controlling the shape memory alloy actuator. The nozzle opening profile can comprise a diameter of the at least one nozzle.

It will be understood that other aspects of additively manufacturing with variable extruder profiles will become readily apparent to those skilled in the art from the following detailed description, wherein it is shown and described only several embodiments by way of illustration. As will be appreciated by those skilled in the art, variable extruder profiles can be realized with other embodiments without departing from the invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not as restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects of apparatus and methods for additive manufacturing with variable extruder profiles will now be presented in the detailed description by way of example, and not by way of limitation, in the accompanying drawings, wherein:

FIG. 1A illustrates a material extrusion printer using a variable extruder head according to the teachings herein.

FIG. 1B illustrates another perspective of the material extrusion printer using a variable extruder head according to the teachings herein.

FIG. 2A illustrates a front view of the variable extruder head for printing a concave surface.

FIG. 2B illustrates a front view of the variable extruder head for printing a convex surface.

FIG. 3A illustrates a front view of a variable extruder head using more than one filament configured according to a first embodiment

FIG. 3B illustrates a front view of the variable extruder head using more than one filament configured according to a second embodiment.

FIG. 3C illustrates a front view of the variable extruder head using more than one filament configured according to a third embodiment.

FIG. 4 illustrates a front view of the extruder nozzles within a lower section of the variable extruder head according to an embodiment.

FIG. 5 illustrates a front view of an extruder nozzle according to an embodiment.

FIG. 6A illustrates a variable extruder nozzle configured to have a first nozzle diameter according to the teachings herein.

FIG. 6B illustrates the variable extruder nozzle configured to have a second nozzle diameter according to the teachings herein.

FIG. 7 illustrates a cross section of a smart memory alloy variable extruder nozzle using smart memory alloy actuators according to an embodiment.

FIG. 8A illustrates a cross section of an opening profile of variable extruder nozzle segments having a first diameter according to an embodiment.

FIG. 8B illustrates a cross section of an opening profile of variable extruder nozzle segments having a second diameter according to an embodiment.

FIG. 8C illustrates a cross section of an opening profile of variable extruder nozzle segments having a third diameter according to an embodiment.

FIG. 9 conceptually illustrates a method of using a material extrusion printer according to an embodiment.

DETAILED DESCRIPTION

The detailed description set forth below in connection with the drawings is intended to provide a description of exemplary embodiments of additive manufacturing using variable extruders, and it is not intended to represent the only embodiments in which the invention may be practiced. The term “exemplary” used throughout this disclosure means “serving as an example, instance, or illustration,” and should not necessarily be construed as preferred or advantageous over other embodiments presented in this disclosure. The detailed description includes specific details for the purpose of providing a thorough and complete disclosure that fully conveys the scope of the invention to those skilled in the art. However, the invention may be practiced without these specific details. In some instances, well-known structures and components may be shown in block diagram form, or omitted entirely, in order to avoid obscuring the various concepts presented throughout this disclosure.

Advantages of using a material extrusion printer compared to other types of 3D printers, such as selective laser sintering (SLS) printers, include lower cost and faster build times. Typically the costs for a material extrusion printer and for the associated print materials are relatively low.

In an material extrusion printer, the nozzle plays an important role by directing molten plastics in a precise manner. The nozzle liquefies the solid fiber into the molten state by utilizing a heating element. The heating element can be a resistor or a cartridge heater. Because different materials have different melting points, the printer nozzle also may use a thermistor or temperature sensor to measure and regulate the nozzle temperature to a desired value. For example, one of the most common materials used in current material extrusion printers is polylactic acid, which is printed between 180 and 200 degrees Celsius. In contrast, another material used is nylon, which is extruded at temperatures above 240 degree Celsius. The provided temperature values are guidelines, and the actual values would depend on the material extrusion printer used.

A conventional material extrusion printer typically includes a movable extruder head attached to a gantry above a print bed. The gantry moves the extruder head in the horizontal X and Y directions with a relatively slow climb in the Z direction while liquefied (molten) material is extruded to create the additively manufactured object. In this way the extruder head moves along Cartesian coordinates (i.e., the X-Y plane) and deposits material during the print process with the nozzle pointing downwards along a rotational Z axis. However, this may be an undesirable configuration for printing objects having certain complex non-planar shapes, such as, for example, objects having concave and convex surfaces. Accordingly, there is a need to develop improved extruder head nozzle configurations for printing objects with concave or convex surfaces, or other shapes for which the printer is not particularly suited.

The nozzle diameter can also be an important parameter in determining the quality and smoothness of the printed object. In particular, the nozzle diameter will determine the build resolution and quality, and it must be chosen to be small enough to produce high quality parts while maintaining reasonable build times. Because build time increases as diameter decreases, the use of a fixed diameter nozzle during a build can be an undesirable limitation. Accordingly, there is a further need to develop extruder nozzles with variable diameters that can be dynamically adjusted during the build.

Apparatus and methods for additive manufacturing with variable extruder profiles are described herein. An extruder print head with multiple nozzles placed at different angles allows for additional flexibility to additively manufacture parts with complex shapes. In addition to the use of shape memory alloy materials as described below, the diameter of one or more nozzles can be adjusted during the additive manufacturing process. This allows for independent control of the build resolution and of the build rate.

A shape memory alloy is an alloy that is able to “remember” its original shape such that when the shape memory alloy is deformed, it can return to its original, pre-deformed shape upon the application of heat to the alloy. Shape memory alloys can be coupled to a variable extruder nozzle. The nozzle can include a plurality of sections that can be actuated via the application of a suitable force or heat, resulting in a change in the opening profile of the nozzle. The use of a shape memory alloy to implement a variable extruder nozzle in a material extrusion printer advantageously allows the material extrusion printer, during the printing process, to deposit a compatible print material with varying deposition cross-sectional areas. Compared to conventional systems which may be constrained by the one (or multiple) nozzles whose opening profiles are fixed at unchangeable diameters, an actuated nozzle system using variable extruder nozzles advantageously avails an enhanced printer for fabricating parts with potentially multiple variable cross-sections per build layer/print.

FIG. 1A illustrates a material extrusion printer 100 using a variable extruder head 110 according to the teachings herein. The material extrusion printer includes the variable extruder head 110, a moveable build stage 120, and a build plate 130 at the top of the build stage 120. The variable extruder head 110 receives a filament 105 and extrudes molten filament via a nozzle 108 a to build an object 102. Like other illustrations herein, the figures, or elements illustrated in the figures, are not necessarily drawn to scale and certain objects may sometimes be magnified relative to the remainder of the apparatus to highlight various features or to add overall clarity. Variable extruder head 110 in FIG. 1A may represent such an enhanced view. It should also be noted in FIG. 1A that of the various candidate nozzles on extruder head 110, nozzle 108 a may be identified as the nozzle that provides the most desirable angle for 3D printing that portion of object 102. As the build proceeds and the object's angle changes, other nozzles may be selected in some embodiments.

Responsive to printing instructions, the variable extruder head 110 moves about a horizontal (X-Y) plane of a Cartesian coordinate system 111 so that extrusion nozzle 108 a extrudes the material to the object 102. The variable extruder head 110 and/or the build plate 130 can also move in the Z-direction of the Cartesian coordinate system 111 to adjust the height of the extruded material.

According to the teachings herein, the variable extruder head 110 can receive instructions to vary nozzle properties in a way that improves the build time and build quality of complex non-planar structures. For instance, as shown in FIG. 1A, using the variable extruder head 110, the material extrusion printer 100 can build the concave object 102 because the extrusion nozzles in this example are oriented at ideal angles and proximities to the build plate 130 (or object 102) to effect the desired concave print. As discussed above, nozzle diameters may also be adjusted depending on the desired resolution, shape, or both, of the printed object. For example, where high print resolution is desirable in an object, the nozzle diameter may be adjusted to be smaller. Where resolution is not as essential (e.g., at a portion of the object that will not be used, or that need not have aesthetic or functional value, etc.), the nozzle diameter may be increased to decrease overall print time.

While an exemplary embodiment of the dynamically-adjustable print nozzle includes shape memory alloy materials as discussed above, the disclosure is not so limited and any number of techniques may be used to implement the variable diameter nozzles. For example, the nozzle may have built within it a network of metallic elements that may be intertwined in a manner that results in increasing or decreasing the nozzle diameter. Still other embodiments may be equally suitable.

As one of ordinary skill in the art can appreciate, different filament materials can be used for building the object 102. Depending on the intended composition of the object 102 and the need for any support material for providing support to overhanging elements of the structure that might otherwise be subject to possible gravitational deformation or collapse, a plurality of materials may be used.

For clarity, basic convex or concave shapes may be used as illustrative print objects in the figures. It should be understood, however, that the 3-D printer of the present disclosure may efficiently render potentially highly complicated print objects that have numerous curvatures and unique shapes. For example, one such print object may incorporate a variety of both convex and concave shapes. Each shape of the print object can be efficiently rendered using the principles described herein.

FIG. 1B illustrates another perspective of a material extrusion printer 140 using the variable extruder head 110 according to the teachings herein. The material extrusion printer 140 includes a filament spool 107, the filament 105, a controller 114, and the variable extruder head 110 attached to a gantry or other supporting device 112. The filament 105 can be fed to the variable extruder head 110 from the filament spool 107, and the controller 114 can send instructions to the variable extruder head 110 via a control signal Vc. For instance, the controller 114 can send the control signal Vc to adjust the position of the variable extruder head 110 along the rod 112 and also in the Z-direction. A motor or actuator can be used to position the variable extruder head 114 above the object 102. Additionally, and advantageously, the controller can send the control signal Vc to vary nozzle properties, such as nozzle diameter and nozzle rotational axis; also the controller can be part of a closed loop feedback system. In this way, complex structures having convex and concave shapes and surfaces, like object 102, can be printed in less time with improved accuracy.

FIG. 2A illustrates a front view of the variable extruder head 110 for printing a concave surface. The variable extruder head 110 includes an upper section 202 and a lower section 204 and receives the control signal Vc. The upper section 202 includes a roller 206 a and a roller 206 b. The rollers 206 a-b can pull the filament 105 (e.g. from the spool) into the variable extruder head 110. The lower section 204 includes nozzles 208 a-g positioned at different locations and at different angles along the surface of the lower section 204.

In printing the concave surface of object 201, the control signal Vc can provide instructions to the variable extruder head 110 to control its position in the Cartesian coordinate system 111 and also to select one of the nozzles 208 a-g. One of the nozzles 208 a-g may be selected based on parameters of the build characteristics of object 201. For instance, as shown in FIG. 2A, in response to instructions from the control signal Vc, actuators may be used to guide the filament 105 through the nozzle 208 a. In this way material can be extruded via nozzle 208 a to the concave surface of object 201 with improved print accuracy and/or at an improved extrusion rate.

The actuator between rollers 206 a-b may include, in one embodiment, additional sets of drive wheels used to feed the filament in a selected direction. In an embodiment, this begins with rollers 206 a and 206 b. Where, as here, multiple nozzles are used with one filament, additional drive wheels may be used to vector the filament in the direction of the nozzle through which the filament is to be extruded. If a set of drive wheels do not move under the command of the controller, the filament would not pass through that set of drive wheels and would not reach a given nozzle. If the controller instructs a set of drive wheels to move, they would grab onto the filament, which may be vectored in that direction. The sets of drive wheels may be housed in upper section 202 of FIG. 2A, right above the demarcation line between upper and lower sections 202 and 204. In lower section 204, a system of channels may be implemented through which the filament would flow. The channel that receives the filament from the corresponding drive wheel with which the channel is paired would send the filament to the nozzle at the other end of the channel.

In other exemplary embodiments, the material extrusion printer along with variable extruder head 110 may be configured such that, in response to instructions over control signal Vc, a more complex configuration of actuators may be used to guide the filament through more than one nozzle, either concurrently or sequentially. These embodiments may be capable of rendering very complex print objects, or may build print objects in a comparatively short time. Additionally, the control signal Vc can provide instructions to the variable extruder head 110 to select one of the nozzles 208 a-g based on properties of the object 201.

FIG. 2B illustrates a front view of the variable extruder head 110 for printing a convex surface. In response to instructions from the control signal Vc, actuators may be used to guide the filament 105 through nozzle 208 f In this way material can be extruded via nozzle 208 f to the convex surface of object 222 with improved accuracy and/or at an improved extrusion rate.

In still another embodiment, the printer of FIG. 1B is used to additively manufacture portions of one or more nozzles, such as portions of nozzle 208 f above. It will be appreciated that certain structures that comprise the nozzle may require a metallic substance or a material that can withstand higher temperatures than those of the filaments used in the material extrusion printer. In those cases, the nozzles may be additively manufactured in part using PBF type printers, or using a conventional non-additive manufacturing method. In another embodiment, the 3-D printer may be equipped with an assortment of custom nozzles through which the variable extruder head 110 can be modified automatically (e.g. robotically) or by hand to include different nozzles for different applications.

Although the embodiments of FIGS. 2A and 2B show the variable extruder head 110 as having seven nozzles 208 a-g, other configurations are possible. For instance, the lower section 204 can have greater or fewer nozzles. Also, although the extruder head 110 shows a configuration using only one filament 105, other configurations, like those shown in FIGS. 3A-3C, using more than one filament are possible.

FIG. 3A illustrates a front view of a variable extruder head 310 using more than one filament configured according to a first embodiment. The variable extruder 310 is similar to the variable extruder head 110 except that it allows for the intake of more than one filament by replacing the upper section 202 with an upper section 302. The upper section 302 includes rollers 306 a-b for pulling filament 305 a into the extruder head 310, rollers 306 c-d for pulling filament 305 b into the extruder head 310, and rollers 306 e-f for pulling filament 305 c into the extruder head 310.

Using more than one filament, the variable extruder head 310 can advantageously reduce bends and routing angles that occur when a filament is guided to one of the nozzles 208 a-g. In an exemplary embodiment, each of the filaments 305 a-c can be devoted to a select subset of the nozzles. For instance, as shown in FIG. 3A, when printing the concave surface of object 201, the control signal Vc can send instructions to guide filament 305 a to nozzle 208 a. Filament 305 a may be selected for a subset of nozzles closer to the left side of the lower section 204. For instance, filament 305 a may be used for a subset of nozzles 208 a-c to extrude material. While the extruder head 310 is illustrated in FIG. 3A as having specific numbers of filaments 305 a-c and nozzles 208 a-g operating in exemplary configurations, it will be appreciated that the number and configuration of these devices may vary in different embodiments to result in a variety of filament-bending profiles most appropriate for a given set of applications.

FIG. 3B illustrates a front view of the variable extruder head 310 using more than one filament configured according to a second embodiment. In the second embodiment the filament 305 c is selected for extruding material through nozzle 208 f to the convex surface of object 222. In this way a filament bend angle is reduced as compared to the filament bend angle in the variable extruder head 110 of FIG. 2B. The filament 305 c can be selected for a subset of nozzles 208 f-g. The actuators in upper portion 302 may be similar in principal to those identified and described with reference to FIG. 2B, except that additional or different techniques may be used to direct the appropriate filaments to the channels in lower portion 204 that feed the nozzles.

In some embodiments, the variable extruder head 310 includes some capability for rotational motion about its vertical axis in addition to its primary translational motion capability along the three axes. Thus, referring to nozzle 208 f in FIG. 3B, in one embodiment Vc may instruct extruder head 310 to rotate slightly in one direction. This rotation of the extruder head 310 also causes nozzle 208 f to rotate relative to the print object, which in turn changes the properties of the printer to accommodate different curvatures in a print object. More generally, this rotational capability means that the different nozzles 208 a-g may all be further rotated when extruder head 310 rotates. In one embodiment, using these principles, virtually the entire rotational field from 0° to 180° may be available to use on a complex build object having sophisticated curvatures. The CAD program associated with the printer can provide a software-based solution that capitalizes on this capability and optimizes the print-out to include a range of relevant angles. The result can be a sophisticated build object printed quickly and, if desired, with a high resolution.

FIG. 3C illustrates a front view of the variable extruder head 310 using more than one filament 305 a-c configured according to a third embodiment. In the third embodiment the filament 305 b is selected for extruding material through nozzle 208 d to the convex surface of object 322. In an embodiment, the filament 305 b can be selected for a subset of nozzles 208 d-e, while the filament 305 a can be selected for a subset of nozzles 208 a-c and the filament 305 c can be selected for the remaining nozzles 208 f-g.

Although FIGS. 3A-3C show the variable extruder head 310 as using three filaments 305 a-c, other configurations having greater or fewer than three are possible. For instance, in embodiments where the lower section 204 has more than seven nozzles 208 a-g, more than three filaments can be used to reduce filament bend angles.

FIG. 4 illustrates a front view of the extruder nozzles within a lower section 204 of the variable extruder head 110 according to an embodiment. In the embodiment of FIG. 4, the lower section 204 includes nozzles 208 a-g positioned at different angles with respect to a Z-axis direction of the Cartesian coordinate system 111. Additionally, the nozzles 208 a-g can be positioned to have an alignment axis parallel to a normal to the surface of the lower section 204. For instance, as shown in FIG. 4, the nozzle 208 d has an axis parallel to a surface normal vector which has an angle θ relative to the Z-axis. The surface structure of the lower section 204 can be tailored to allow for any arrangement of nozzle angles. For instance, the surface can be tailored to have a Bezier curve shape.

FIG. 5 illustrates a front view 500 of an extruder nozzle 508 according to an embodiment. The extruder nozzle 508 can be one of several extruder nozzles placed at angles along the surface of a lower section 204. The nozzle 508 comprises a filament liquefier chamber 502 and a nozzle head 504. Based on instructions received via control signal Vc, an actuator can guide the filament 105 into the nozzle 508. The filament 105 entering the nozzle 508 is heated within the filament liquefier chamber 502 so that molten material 506 is extruded from the tip of the nozzle head 504.

The control signal Vc can also be used to adjust the diameter d of the nozzle head 504. The diameter d of the nozzle head 504 can determine the resolution and build time of the printed object. As the diameter d decreases, the resolution can increase while the build time increases.

For instance, FIG. 6A illustrates a variable extruder nozzle 508 configured to have a first nozzle diameter d1 according to the teachings herein; and FIG. 6B illustrates the variable extruder nozzle 508 configured to have a second nozzle diameter d2, greater than d1 according to the teachings herein. For fine geometry sections of a build, the control signal Vc can send instructions to reduce diameter to d1, while for coarser geometry sections of a build, the control signal Vc can send instructions to increase diameter to d2. Although the concept of varying the diameter of a variable extruder nozzle 508 is shown with respect to a single nozzle, the concept may also be applied to the nozzles 208 a-g described above. For instance, the variable extruder head 110 can have nozzles 208 a-g, each with a controllable diameter as described herein.

FIG. 7 illustrates a cross section of a smart memory alloy (SMA) variable extruder nozzle 700 using SMA actuators 709 a-b according to an embodiment. The SMA variable extruder nozzle 700 includes rollers 706 a-b, a filament liquefier chamber 701, and nozzle segments 704 a-b which are mechanically controlled by the SMA actuators 709 a-b. The rollers 706 a-b draw filament 705 into the filament liquefier chamber 701 where the filament 705 is heated to a molten state. A control signal can be used to control the manner in which the nozzle segments 704 a-b adjust a nozzle diameter via the SMA actuators 709 a-b. For instance, control signals can be used to cause the SMA actuators 709 a-b to force a movement of the nozzle segments 704 a-b.

The SMA variable extruder nozzle 700 can be used as a nozzle in one of the previous variable extruder heads (e.g. variable extruder head 110). Additionally, the SMA variable extruder nozzle 700 can be controlled via a control signal Vc within a closed loop or open loop system.

The nozzle segments 704 a-b may be actuated via the SMA actuators 709 a-b by instructions via a control signal in order to adjust an opening profile (diameter). Although, the SMA variable extruder nozzle 700 shows a cross section with two nozzle segments 704 a-b, the nozzle can have multiple segments; and each of the segments may be actuated by an SMA actuator to vary an opening profile (diameter) of the nozzle.

Although actuation of the nozzle segments 704 a-b is shown to occur via SMA actuators 709 a-b, other actuator systems are possible. For instance, actuation may be achieved through a variety of technologies-hydraulic actuators, pneumatic actuators, linear actuators, electro-mechanical actuators, and other types of smart material actuators. In addition to SMA materials, shape memory polymers (SMPs) may be used to create actuators.

Additionally, the SMA variable extruder nozzle 700 can be part of a material extrusion-based additive manufacturing system. Also, as one of ordinary skill in the art can appreciate, SMAs are temperature sensitive; and an SMA actuation system can likewise be temperature sensitive.

As one of ordinary skill in the art can appreciate, SMA transition temperatures are typically between 10 to 100 degrees Celsius. An SMA can be heated to gain its shape prior to deformation and cooled to return to its deformed shape. SMAs typically operate through Joule heating, and the same principle can be applied to the SMA variable extruder nozzle 700 and SMA actuators 709 a-b.

As described above, the variable extruder nozzle 700 and SMA actuators 709 a-b can be connected to a closed-loop control system which can elevate the temperature of the SMA based on a variety of variables: material being extruded, temperature of the nozzle, instructions from computer aided design (CAD) via the control signal Vc. Instructions can further be based upon object (e.g. object 102) parameters including geometry, curvature, and the like. Instructions can be sent to the controller (e.g. controller 114) to adjust the temperature of the SMA by adding heat or providing cooling functionality.

The SMA actuators 709 a-b can be connected to additional segments of the SMA variable extruder nozzle 700 to operate as actuators. The connection between the SMA actuators 709 a-b and the nozzle segments 704 a-b can be insulated thermally and electrically so that the heat from the nozzle area, tip, and surrounding regions do not heat the SMA.

To avoid unintended actuation, the SMA actuators 709 a-b may in an embodiment be positioned so as to not be exposed to extreme and/or elevated temperature. The SMA actuators 709 a-b can be placed in a thermally insulated location in the printer, sufficiently clear of the regions immediately surrounding the end of the extruder/nozzle segments. The SMA actuators 709 a-b can be positioned away and/or insulated from heat producing elements of the SMA variable extruder nozzle 700. For instance, the SMA actuators 709 a-b can be away from the extreme temperatures of the liquefier chamber 701; also isolation and/or insulation material can be placed between the SMA actuators 709 a-b and heat producing elements of the SMA variable extruder nozzle 700. Also, a cooling system can be used to control and/or cool the SMA actuators 709 a-b.

As shown in following FIGS. 8A-C, using SMA actuators 709 a-b to control opening profiles can advantageously allow for a variety of opening profiles by varying a diameter of the SMA variable extruder nozzle 700.

FIG. 8A illustrates a cross section 800 a of an opening profile of variable extruder nozzle segments 704 a-b having a first diameter d0 according to an embodiment.

FIG. 8B illustrates a cross section 800 c of an opening profile of variable extruder nozzle segments 704 a-b having a second diameter d1 according to an embodiment.

FIG. 8C illustrates a cross section 800 e of an opening profile of variable extruder nozzle segments 704 a-b having a third diameter d2 according to an embodiment.

As illustrated by FIGS. 8A-8C, actuators, such as the SMA actuators 709 a-b, can control diameter. In the embodiments of FIGS. 8A-8C, diameter d2 is greater than diameter d0, and diameter d1 is less than diameter d0.

FIG. 9 conceptually illustrates a method 900 of using a material extrusion printer according to an embodiment. The method 900 includes steps 901-904. In step 901 filament material (e.g. filament 105) is provided to a variable extruder head 110. In step 902 material is received by the variable extruder head 110. In step 903 layers are deposited sequentially. In step 904 a profile of at least one nozzle 904 is varied according to the teachings herein.

The above sub-processes represent non-exhaustive examples of specific techniques to accomplish objectives described in this disclosure. It will be appreciated by those skilled in the art upon perusal of this disclosure that other sub-processes or techniques may be implemented that are equally suitable and that do not depart from the principles of this disclosure.

The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these exemplary embodiments presented throughout this disclosure will be readily apparent to those skilled in the art, and the concepts disclosed herein may be applied to other techniques for additively manufacturing transport vehicles including automobiles, airplanes, boats, motorcycles, and the like.

Thus, the claims are not intended to be limited to the exemplary embodiments presented throughout the disclosure, but are to be accorded the full scope consistent with the language claims. All structural and functional equivalents to the elements of the exemplary embodiments described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are intended to be encompassed by the claims. Moreover, nothing disclosed herein is intended to be dedicated to the public regardless of whether such disclosure is explicitly recited in the claims. No claim element is to be construed under the provisions of 35 U.S.C. § 112(f), or analogous law in applicable jurisdictions, unless the element is expressly recited using the phrase “means for” or, in the case of a method claim, the element is recited using the phrase “step for.” 

What is claimed is:
 1. An additive manufacturing (AM) apparatus, comprising: a print material source; and a three-dimensional (3-D) print applicator comprising at least one nozzle configured to receive print material from the print material source and to deposit sequential layers of the print material onto a build plate to produce an AM component, wherein a profile of the at least one nozzle is configured to vary responsive to instructions from a controller linked to the 3-D print applicator.
 2. The apparatus of claim 1, wherein the at least one nozzle is additively manufactured.
 3. The apparatus of claim 1, wherein the profile comprises a nozzle opening profile.
 4. The apparatus of claim 3, wherein the nozzle opening profile comprises a diameter.
 5. The apparatus of claim 3, wherein the nozzle opening profile is configured in response to controller instructions to increase its size to reduce rendering time for the AM component.
 6. The apparatus of claim 3, wherein the nozzle opening profile comprises a plurality of sizes; and the nozzle opening profile is configured in response to controller instructions to reduce its size to a value correlative to one or more features of the AM component.
 7. The apparatus of claim 6, wherein the reduction in size of the nozzle opening profile increases a rendering accuracy of the one or more features.
 8. The apparatus of claim 1, wherein the 3-D print applicator comprises a surface on which the at least one nozzle is arranged to deposit the print material onto the build plate; and the surface is curved to extend outside a plane parallel to the at least one nozzle.
 9. The apparatus of claim 8, wherein the curved surface comprises at least one of a concave or convex characteristic.
 10. The apparatus of claim 8, wherein the at least one nozzle comprises a plurality of nozzles arranged on the curved surface and configured to deposit the print material at different angles relative to the build plate.
 11. The apparatus of claim 1, wherein the at least one nozzle comprises a first removable nozzle having a first profile.
 12. The apparatus of claim 11, comprising a mechanical assembly coupled to the 3-D print applicator and further including: a sensor in communication with the controller for receiving instructions; an actuator coupled to the 3-D print applicator and configured to replace, responsive to an indication from the sensor based on the received instructions, the first removable nozzle with a second removable nozzle having a second profile.
 13. A method of additive manufacturing comprising: providing a print material source; receiving, at a three-dimensional (3-D) print applicator, print material from the print material source; depositing, by at least one nozzle associated with the 3-D print applicator, sequential layers of the print material to thereby form a 3-D printed object; and varying, responsive to instructions from a controller linked to the 3-D print applicator, a profile of the at least one nozzle.
 14. The method of claim 13, wherein the profile comprises a nozzle opening profile, the nozzle opening profile comprising a diameter.
 15. The method of claim 14, further comprising automatedly selecting the nozzle opening profile to be small to accurately print small features.
 16. The method of claim 15, wherein automatedly selecting the nozzle opening profile to be small comprises reducing the diameter.
 17. The method of claim 14, further comprising automatedly selecting the nozzle opening profile to be larger to reduce rendering time for the 3-D printed object.
 18. The method of claim 17, wherein automatedly selecting the nozzle opening profile to be larger comprises increasing the diameter.
 19. The method of claim 13, wherein the profile comprises a nozzle curvature.
 20. The method of claim 19, comprising automatedly selecting the profile to be one of concave or convex.
 21. An additive manufacturing (AM) apparatus, comprising: a print material source; and a three-dimensional (3-D) print applicator comprising an actuator system, the actuator system comprising: at least one nozzle configured to receive print material from the print material source and to deposit sequential layers of the print material onto a build plate to produce an AM component; and an actuator.
 22. The apparatus of claim 21, wherein the at least one nozzle is additively manufactured.
 23. The apparatus of claim 21, wherein the at least one nozzle comprises a nozzle opening profile.
 24. The apparatus of claim 21, wherein the actuator is a shape memory alloy actuator.
 25. The apparatus of claim 24, wherein the closed loop actuator system further comprises a controller; and wherein the controller is configured to adjust the nozzle opening profile by controlling the shape memory alloy actuator.
 26. The apparatus of claim 25, wherein the nozzle opening profile comprises a diameter of the at least one nozzle.
 27. The apparatus of claim 21, wherein the actuator system comprises a closed-loop system. 